A Comparison of the Effectiveness of Design Approaches for Human-Friendly Robots
Author:
Lauzier Nicolas1, Gosselin Clément2
Affiliation:
1. Département de Génie Mécanique, Université Laval, Québec, QC G1V 0A6, Canada 2. Département de Génie Mécanique, Université Laval, Québec, QC G1V 0A6, Canada e-mail:
Abstract
In this paper, different measures for reducing the maximum contact force during blunt collisions between a robot and a human are evaluated using simulations. An existing collision model is adapted to include a nonlinear compliant covering, articular safety mechanisms (compliant joint and two types of torque limiters), and a collision detection system. Several scenarios are simulated in which the collision occurs at a low or high velocity, the head of the person (on which the collision occurs) is constrained by a wall or free to move and the reflected motor inertia is large or small compared to the link inertia. The results show that a torque limiter in series with each actuator has the potential to significantly improve safety without reducing the robot's performances.
Publisher
ASME International
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Reference28 articles.
1. Haddadin, S., Albu-Schäffer, A., and Hirzinger, G., 2008, “The Role of the Robot Mass and Velocity in Physical Human–Robot Interaction—Part I: Non-Constrained Blunt Impacts,” IEEE International Conference on Robotics and Automation (ICRA 2008), pp. 1331–1338. 2. Haddadin, S., Albu-Schäffer, A., Frommberger, M., and Hirzinger, G., 2008, “The Role of the Robot Mass and Velocity in Physical Human–Robot Interaction—Part II: Constrained Blunt Impacts,” IEEE International Conference on Robotics and Automation (ICRA 2008), pp. 1339–1345. 3. Requirements for Safe Robots: Measurements, Analysis and New Insights;Int. J. Rob. Res.,2009 4. Hirzinger, G., Sporer, N., Albu-Schaffer, A., Hahnle, M., Krenn, R., Pascucci, A., and Schedl, M., 2002, “DLR'S Torque-Controlled Light Weight Robot III: Are We Reaching the Technological Limits Now?,” IEEE International Conference on Robotics and Automation (ICRA'02), Vol. 2, pp. 1710–1716. 5. Ebert, D., Komuro, T., Namiki, A., and Ishikawa, M., 2005, “Safe Human-Robot-Coexistence: Emergency-Stop Using a High-Speed Vision-Chip,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Aug. 2–5, pp. 2923–2928.10.1109/IROS.2005.1545242
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|